SDF joins
Table of Content
SDF joins#
A joint connects two links with kinematic and dynamic properties. By default, the pose of a joint is expressed in the child link frame.
Joint Types#
- Fixed
- Revolute
- Gearbox
- Revolute2
- Prismatic
- Ball
- Screw
- Universal
Demo: demo_joint_types#
Demo: Frame and Relative_to Pose attribute#
relative_to
<?xml version="1.0"?>
<sdf version="1.7">
<model name='my_model'>
<link name="link1">
<pose >0 0 0.25 0 0 0</pose>
<collision name="collision1">
<geometry>
<box>
<size>0.5 0.5 0.5</size>
</box>
</geometry>
</collision>
<visual name="visual1">
<geometry>
<box>
<size>0.5 0.5 0.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Red</name>
</script>
</material>
</visual>
</link>
<joint name="l12l2_joint" type="fixed">
<parent>link1</parent>
<child>link2</child>
<pose relative_to="link1">0.30 0 0 0 0 0</pose>
</joint>
<link name="link2">
<pose relative_to="l12l2_joint">0.25 0 0 0 0 0</pose>
<collision name="collision">
<geometry>
<box>
<size>0.5 0.5 0.5</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.5 0.5 0.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Green</name>
</script>
</material>
</visual>
</link>
</model>
</sdf>
